EP3914492A4 - A parking-trajectory generation method combined with offline and online solutions - Google Patents

A parking-trajectory generation method combined with offline and online solutions Download PDF

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Publication number
EP3914492A4
EP3914492A4 EP20816079.6A EP20816079A EP3914492A4 EP 3914492 A4 EP3914492 A4 EP 3914492A4 EP 20816079 A EP20816079 A EP 20816079A EP 3914492 A4 EP3914492 A4 EP 3914492A4
Authority
EP
European Patent Office
Prior art keywords
offline
parking
generation method
trajectory generation
method combined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20816079.6A
Other languages
German (de)
French (fr)
Other versions
EP3914492A1 (en
EP3914492B1 (en
Inventor
Xin Xu
Fan ZHU
Dongchun YAO
Ning Yu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Baidu com Times Technology Beijing Co Ltd
Baidu USA LLC
Original Assignee
Baidu com Times Technology Beijing Co Ltd
Baidu USA LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Baidu com Times Technology Beijing Co Ltd, Baidu USA LLC filed Critical Baidu com Times Technology Beijing Co Ltd
Publication of EP3914492A1 publication Critical patent/EP3914492A1/en
Publication of EP3914492A4 publication Critical patent/EP3914492A4/en
Application granted granted Critical
Publication of EP3914492B1 publication Critical patent/EP3914492B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
EP20816079.6A 2020-03-31 2020-03-31 A parking-trajectory generation method combined with offline and online solutions Active EP3914492B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/082398 WO2021195951A1 (en) 2020-03-31 2020-03-31 A parking-trajectory generation method combined with offline and online solutions

Publications (3)

Publication Number Publication Date
EP3914492A1 EP3914492A1 (en) 2021-12-01
EP3914492A4 true EP3914492A4 (en) 2021-12-29
EP3914492B1 EP3914492B1 (en) 2023-06-21

Family

ID=77857399

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20816079.6A Active EP3914492B1 (en) 2020-03-31 2020-03-31 A parking-trajectory generation method combined with offline and online solutions

Country Status (5)

Country Link
US (1) US20210300333A1 (en)
EP (1) EP3914492B1 (en)
JP (1) JP2022531030A (en)
CN (1) CN113748059A (en)
WO (1) WO2021195951A1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111976717B (en) * 2019-11-29 2022-07-08 长城汽车股份有限公司 Intelligent parking method and device
US20230264687A1 (en) * 2022-02-20 2023-08-24 Beijing Jingdong Qianshi Technology Co., Ltd. System and method for selecting an intermediate parking goal in autonomous delivery
US20230288932A1 (en) * 2022-03-08 2023-09-14 Ford Global Technologies, Llc Dynamic automatic unparking

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013015348A1 (en) * 2013-09-17 2014-04-10 Daimler Ag Method for operating vehicle, particularly for approaching parking space in parking zone that is non-visible or distant from road by vehicle, involves determining and storing multiple trajectories for home-parking space of home parking zone
US20150073661A1 (en) * 2011-11-11 2015-03-12 Robert Bosch Gmbh Method for supporting a driver of a motor vehicle and device for carrying out the method
US20180265130A1 (en) * 2015-09-08 2018-09-20 Volkswagen Aktiengesellschaft Method and device for carrying out an automatic drive of a vehicle

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DE102007009745A1 (en) * 2007-02-28 2008-09-04 Continental Automotive Gmbh Method for controlling vehicle steering during parking process, involves measuring parking place selected for parking vehicle and establishing orientation field, where orientation field determines number of support points
JP6025063B2 (en) * 2013-10-04 2016-11-16 アイシン精機株式会社 Parking assistance device
JP5669998B1 (en) * 2014-07-04 2015-02-18 マミヤ・オーピー・ネクオス株式会社 Work machine, device for generating travel route of work machine, method, program, recording medium recording program, travel control device for work machine
DE102015204359A1 (en) * 2015-03-11 2016-09-15 Robert Bosch Gmbh Driving a motor vehicle in a parking lot
JP6579441B2 (en) * 2016-01-12 2019-09-25 三菱重工業株式会社 Parking support system, parking support method and program
JP6692209B2 (en) * 2016-05-11 2020-05-13 株式会社日立製作所 Parking management system and control method thereof
KR102395278B1 (en) * 2016-12-02 2022-05-09 현대자동차주식회사 Apparatus for regenerating parking path, system having the same and method thereof
EP3730351A4 (en) * 2017-12-20 2020-12-02 Nissan Motor Co., Ltd. Parking control method and parking control device
CN108284831B (en) * 2018-03-23 2022-01-14 威马智慧出行科技（上海）有限公司 Automatic parking method and system
JP7155596B2 (en) * 2018-05-02 2022-10-19 愛知製鋼株式会社 automatic parking system
US11117569B2 (en) * 2018-06-27 2021-09-14 Baidu Usa Llc Planning parking trajectory generation for self-driving vehicles using optimization method
US11066067B2 (en) * 2018-06-29 2021-07-20 Baidu Usa Llc Planning parking trajectory for self-driving vehicles
CN108973987B (en) * 2018-08-09 2020-01-24 北京智行者科技有限公司 Parking control method
CN109466546B (en) * 2018-11-20 2020-09-18 广州小鹏汽车科技有限公司 Automatic parking method and system
CN109785652A (en) * 2019-01-29 2019-05-21 广州大学 A kind of automatic stopping control method, device, system, medium and equipment
CN109828591A (en) * 2019-03-21 2019-05-31 上海赛摩物流科技有限公司 A kind of automatic guided vehicle and its Autonomous Seam Locating Method and device with storage function

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150073661A1 (en) * 2011-11-11 2015-03-12 Robert Bosch Gmbh Method for supporting a driver of a motor vehicle and device for carrying out the method
DE102013015348A1 (en) * 2013-09-17 2014-04-10 Daimler Ag Method for operating vehicle, particularly for approaching parking space in parking zone that is non-visible or distant from road by vehicle, involves determining and storing multiple trajectories for home-parking space of home parking zone
US20180265130A1 (en) * 2015-09-08 2018-09-20 Volkswagen Aktiengesellschaft Method and device for carrying out an automatic drive of a vehicle

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021195951A1 *

Also Published As

Publication number Publication date
JP2022531030A (en) 2022-07-06
EP3914492A1 (en) 2021-12-01
EP3914492B1 (en) 2023-06-21
WO2021195951A1 (en) 2021-10-07
US20210300333A1 (en) 2021-09-30
CN113748059A (en) 2021-12-03

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